#include "ros/ros.h"
#include "std_msgs/String.h"
#include "xfm_localization/xfm_localization.h"

void chatterCallback(const xfm_localization::xfm_localization::ConstPtr& msg)
{
  std::cout<<"  angle     :"<< msg->angle<<std::endl;
  std::cout<<"  score     :"<< msg->score<<std::endl;
  std::cout<<"  key_word  :"<< msg->key_word<<std::endl;
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "xfm_sub_msg");
  ros::NodeHandle nh;

  ros::Subscriber sub = nh.subscribe("xfm_drive_data", 1000, chatterCallback);

  ros::MultiThreadedSpinner spinner(4);
  spinner.spin();
  ros::spin();

  return 0;
}
